/*
stringdef.h
offer usedfull string define in headfile
designed by lunanting

--------------------------
2020-06-29 10:14:44
create file
--------------------------
*/
#ifndef __STRINGDEF_H
#define __STRINGDEF_H

#define UPPER_AGV_req_state "agv state"   //require agv state
#define UPPER_AGV_serch_car "agv serch car"   //agv serch car
#define UPPER_AGV_aginst_car "agv against car"    //agv aginst car
#define UPPER_AGV_back_home "agv back home"   //agv back home
#define UPPER_AGV_mag_driver "agv mag driver" //agv mag driver

#define UPPER_AGV_stop "agv stop" //agv stop
#define UPPER_AGV_pause "agv pause"   //agv pause
#define UPPER_AGV_continue "agv continue" //agv continue

#define UPPER_AGV_undefine "undefine"   //cmd undefine

#define UPPER_AGV_MOVE_SPEED      "agv_move_speed"      //s设定移动速度，线速度，单位：m/s

#define UPPER_AGV_MOVE_AHEAD      "agv_move_ahead"      //以一定速度向前进
#define UPPER_AGV_MOVE_BACK       "agv_move_back"       //以一定速度后退

#define UPPER_AGV_TURN_LEFT       "agv_turn_left"       //左转
#define UPPER_AGV_TURN_RIGTHT     "agv_turn_right"      //右转
#define UPPER_AGV_TURN_STOP        "agv_turn_stop"      //转弯停止

#define UPPER_AGV_ROUND_LEFT      "agv_round_left"       //左旋转
#define UPPER_AGV_ROUND_RIGHT      "agv_round_right"     //右旋转
#define UPPER_AGV_ROUND_STOP      "agv_round_stop"       //停止旋转
#define UPPER_AGV_TURN_ROUND       "agv_turn_round"      //

#define UPPER_AGV_RUN              "agv_run"            //agv 行车
#define UPPER_AGV_STOP              "agv_stop"          //agv 停车

#define UPPER_AGV_BY_CAR            "agv_by_car"        //agv 贴车行车
#define UPPER_AGV_BY_CAR_END        "agv_by_car_end"    //agv 贴车行车结束
#define UPPER_AGV_CAR_GOING  "agv_car_going"    //agv 小车绕车一侧

#define UPPER_AGV_LEAVE_CAR			"agv_leave_car"

#define UPPER_AGV_IS_ROBOT_FIX_ANGLE_END  "is_robot_fix_angle_end"    //agv 角度摆正是否完成
#define UPPER_AGV_IS_CAR_GOING_END  "is_car_going_end"    //agv 是否绕一侧完成
#define UPPER_AGV_CAR_TURNING  "agv_car_turning"    //agv 小车绕车一侧
#define UPPER_AGV_IS_CAR_TURNING_END  "is_car_turning_end"    //agv 是否绕一侧完成
#define UPPER_AGV_CAR_SAFE_DISTANCE  "agv_car_safe_distance"  //设置agv离车子的距离
#define UPPER_AGV_CAR_ROUND_SIDE_TIME_RESET_GYRO  "agv_car_round_side_time_reset_gyro"  //绕边复位陀螺仪，带超时时间
#define UPPER_AGV_CAR_IS_ROUND_SIDE_RESET_GYRO_END "agv_car_is_round_side_reset_gyro_end"
#define UPPER_AGV_CAR_ADJUST_POSE_BY_LIDAR  "agv_car_adjust_pose_by_lidar"  //根据雷达检测调整位姿
#define UPPER_AGV_CAR_IS_ADJUST_POSE_END "agv_car_is_adjust_pose_end"
#define UPPER_AGV_CAR_ROUND_SIDE_DIST_RESET_GYRO  "agv_car_round_side_dist_reset_gyro"  //绕边超过一定距离后复位陀螺仪

#define UPPER_GYRO_RESET  "gyro_reset"  //陀螺仪复位
#define UPPER_AGV_BASE_SPEED  "agv_base_speed"  //设置雷达基准速度
#define UPPER_AGV_ROBOT_RIGHT_ANGLE  "agv_right_angle"  //设置右转大约10厘米

#define UPPER_AGV_SET_WASH_CAR_ROOF_FLAG "set_wash_car_roof_flag"
#define UPPER_AGV_SET_SOFT_RESET_GYRO_FLAG "set_soft_reset_gyro_flag"

#define UPPER_AGV_ENABLE_SET  "agv_enable_set"  //agv电机使能设置



#define UPPER_AGV_IS_CAR_LEAVE_FINISH  "is_car_leave_finish"    //洗车顶agv初始要先离开车
#define UPPER_AGV_IS_CAR_SEARCH_FINISH  "is_car_search_finish"    //洗车顶agv初始是否找到车


#define UPPER_AGV_SMCAR_BREAK     "agv_sud_break"       //AGV小车刹车
#define UPPER_AGV_MOTOR_ENBLE     "agv_motor_enble"       //AGV 电机使能
#define UPPER_AGV_MOTOR_UNENBLE   "agv_motor_unenble"     //AGV 电机不使能

#define UPPER_AGV_SET_MAG_PARA    "agv_set_mag_para"    //设置磁导航PID参数以及基准速度
#define UPPER_AGV_SET_MAG_MOVE    "agv_set_mag_move"    //设置磁导航启动停止
#define UPPER_AGV_GET_MAG_VAULE    "agv_get_mag_value"  //获得磁导航数据pid 基准速度以及磁传感器数据

#define UPPER_AGV_SET_LIDAR_PARA  "agv_set_lidar_para"  //设置雷达导航PID参数


#endif
//end of the file
